367947fd33
HWSTATUS: if we don't know the voltage, report it as zero
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this will tell us if board_voltage() is really working
13 years ago
64cc04ae09
ACM: adjust yaw drift correction constants
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this should give the compass a bit more authority
13 years ago
730476fdfd
ACM -
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Implemented automatic ranging of Alt Hold gains. Works well in simulator and testing.
- alt hold estimation moved to 50 hz
- simple fixed observer calc for smooth and accurate climb rates useful for derivative calcs
- auto-reset of the I term by moving I value into throttle value. This recalcs the gain every 20seconds for battery drainage compensation in long flights.
- remove filtering for Nav_throttle
- added a way to lower the gain on nav_throttle for descents by / climb_rate error by 2 - seems to work OK and keeps copter from dropping like a rock when the Baro drifts quickly lower.
- removed old throttle hold set point code
- made throttle override for alt hold +- 200 vs 250
13 years ago
cb874d6097
ACM: added board_voltage()
13 years ago
eac77504a3
Added more Logging for PIDs.
13 years ago
f27e9f9ca1
added a simple rest of nav_throttle just in case
13 years ago
42b5d47f7b
commented out control mode debug print
13 years ago
336441b109
reset slow_WP option at mode switch
13 years ago
17c6c7b294
added extra gain logging
13 years ago
3b4cae3cc3
adapted main ACM code for AP_Param
13 years ago
8ae53bffd2
Made Yaw Hold universal for Acro
13 years ago
1a861b3de5
allow for lower serial baud rates
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not many people will use less than 9600 baud, except for those wanting
to test extreme range radios, which is what I'm trying to do :-)
13 years ago
151479f769
fix issue 502
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to identify quad over mavlink
13 years ago
7833cea9d4
2.2B6 - Please verify Heli still functions properly.
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Added AC_PID lib
Updated landing code
bug fixes
13 years ago
122623f64b
OpticalFlow - added OF_LOITER flightmode
13 years ago
6784989e83
relocated reset_I term functions to central location
13 years ago
3ebed0b278
This allows users to test the Auto_throttle hold or cruise value
13 years ago
7877a872d3
added update throttle cruise function
13 years ago
a59c9ae22c
added notes
13 years ago
4b54887c6c
Switched to set_next_WP for mode switches
13 years ago
cf92631d33
added #if to wind compensation code
13 years ago
f68d23d91e
ArduCopter - added ROLL_PITCH_STABLE_OF (i.e. Stabilised Roll/Pitch + adjustments based on optical flow)
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Removed optical flow from regular loiter for now until it's tested.
13 years ago
9c8122e061
converted auto land to use the mission planner version
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Removed gate that looked for already set control_mode. Wasn't compatible with failsafe
13 years ago
98f9a5f237
Forced Faildafe throttle mode to throttle Auto
13 years ago
40ad164c8d
Clears Auto_land timer
13 years ago
df81a9459a
ACM: reset all I terms on gyro calibration
13 years ago
2e83e42764
Added precalc for wind compensation when entering Stabilze mode
13 years ago
ecb3241489
calc_wind_compensation called when exiting AP modes
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Rate I terms reset in Acro Mode switch
Limit of 1 m set to alt hold
Reset circle angle to 0 by default
Land got land_complete var set to false by default
13 years ago
cdd5589498
I2c: default to 5ms timeout, and faster bus speed
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we will slow down the speed when we get a failure
13 years ago
bbe6dea980
OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin.
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Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
13 years ago
03a16c6e45
ACM: use new I2C library
13 years ago
73e6d5ee11
ACM: update for DataFlash changes
13 years ago
0dadbf932a
removed "Please run setup" loop from ArduCopter
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Chris asked for this to be removed as it was really mucking up the
initial experience setting up ArduCopter via the planner
13 years ago
e5a3899b7f
added ability to enter Loiter with only optflow available
13 years ago
ad9c0533d8
ACM: run mavlink loop while erasing logs
13 years ago
1251e8105d
Added failsafe check
13 years ago
483bef35e5
IMU: update ACM and APM for flash_leds change in IMU init
13 years ago
07dba4eff7
desktop: fixed Wire.begin() build problem
13 years ago
a48c65b5b5
ArduCopter: update AP_Baro constructors & initializers
13 years ago
f3ad7f3af8
Wire and SPI Init: move to sketch system.pde from libraries
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* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin removed from AP_Baro_MS5611::init()
* SPI.begin removed from AP_InertialSensor_MPU6000::hardware_init()
* Both Wire.begin and SPI.begin added very early in init_ardupilot in
ArduCopter/system.pde and ArduPlane/system.pde
13 years ago
39fe9075d9
ArduCopter Init: different call to barometer.init based on CONFIG_BARO
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* BMP085 has two arguments, second varying on apm1/apm2
* ms5611 has no arguments
13 years ago
2e200834e1
ArduCopter: Revert "Switched to Gyro only startup"
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This reverts commit f932f0a9f6a29e9c3193622109298c657ed5a908.
I fixed this bug in 734185599cd9d6a487c675460c09895172e012b0.
It is no longer valid to call IMU::init_gyro() before IMU::init().
13 years ago
fe336fb749
ArduCopter - small fixes to fix HIL compile errors
13 years ago
67855b207d
Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types
13 years ago
648ab5f4ae
Switched to Gyro only startup
13 years ago
49806d93d9
Added Land FLight mode definition
13 years ago
0d8071a401
Added new gain and clamp value for DCM
13 years ago
aaac6212ab
MAVLink: use the configured system ID for ArduCopter
13 years ago
b92b4e9092
cleanup
13 years ago
b03de3095e
Add DataFlash.Init before doing a forced log erase on eeprom reset.
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Add progress indication during log erase
13 years ago
Andrew Tridgell
Jason Short
Michael Oborne
Randy Mackay
Pat Hickey
Doug Weibel